CN106254198A - Distributed System-Level task synchronization method based on Time Triggered - Google Patents
Distributed System-Level task synchronization method based on Time Triggered Download PDFInfo
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- CN106254198A CN106254198A CN201610822146.3A CN201610822146A CN106254198A CN 106254198 A CN106254198 A CN 106254198A CN 201610822146 A CN201610822146 A CN 201610822146A CN 106254198 A CN106254198 A CN 106254198A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/1095—Replication or mirroring of data, e.g. scheduling or transport for data synchronisation between network nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L49/00—Packet switching elements
- H04L49/10—Packet switching elements characterised by the switching fabric construction
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L49/00—Packet switching elements
- H04L49/15—Interconnection of switching modules
- H04L49/1507—Distribute and route fabrics, e.g. sorting-routing or Batcher-Banyan
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/1097—Protocols in which an application is distributed across nodes in the network for distributed storage of data in networks, e.g. transport arrangements for network file system [NFS], storage area networks [SAN] or network attached storage [NAS]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/146—Markers for unambiguous identification of a particular session, e.g. session cookie or URL-encoding
Abstract
Distributed System-Level task synchronization method based on Time Triggered, initially sets up system architecture model based on Time Triggered information network, and the device node carrying out tasks synchronization will be needed all to be connected on this data network；The cycle performed according to periodic system level synchronous task afterwards carries out periodic task synchronization to all devices node.The method synchronized relies primarily on the protocol message between device node and data switching exchane and forwards relation and transmission time measurement ability, data switching exchane carries out time statistics by each device node in system is sent synchronization message, and the middle position time of advent of all synchronization messages is obtained according to median algorithm, pass through to send on the basis of median time afterwards to receive the response, actual time and expeced time that each device node is receiveed the response by reception carry out doing difference, and the time difference obtained is i.e. the time quantum that device node local clock needs to revise.On the new clock base through revising, the system-level synchronous task starting current period is performed operation by device node.
Description
Technical field
The present invention relates to a kind of system level tasks synchronous method based on Time Triggered, belong in spacecraft or Industry Control
Distributed system task hard real time field of synchronization.
Background technology
According to country moon exploration program three phase overall planning, China want independent research can complete around, fall, time lunar exploration fly
The row device goddess in the moon No. five.During completing lunar exploration task, owing to No. five aircraft of the goddess in the moon are by multiple sons completing difference in functionality
Aircraft is constituted, exist each other stronger data interaction, time system and tasks in parallel perform demand.
Data exchange in traditional Space Vehicle System is completed by point-to-point serial-port or 1553B bus mostly, is
Scarcely there is task between each device node in system and pass through relation, if desired system task is synchronized, the most mostly
System when all devices being carried out by the way of hardware synchronization pulse signal by sending from core controller.This traditional system is appointed
Business scheduling method is commonly called the scheduling of centralized tasks synchronization, but along with spacecraft function becomes increasingly complex, has mutual setting
Slave node quantity gets more and more, and the system resource overhead that traditional centralized task scheduling exists is big, fault-tolerant ability is low, reliability
Low feature the most more and more embodies.Consider, should solve problems with:
1. under finite data network/bus resource, big system multinode tasks synchronization demand；
2. arbitrary node fault in system, does not affect system task synchronous regime；
3. system should be supported any time to add or exit the state of node.
Therefore, it is suggested based on distributed time-trigged system tasks synchronization and scheduling mechanism, is used for solving based on having
Limit resource and the key safety system of high reliability request.
Summary of the invention
Solving the technical problem that of the present invention is: overcome prior art not enough, ensures system in large-scale distributed system
Level task synchronicity, traditional system level tasks based on time synchronized is dispatched and is mostly depended on hardware synchronization signal, and hardware
Synchronizing signal is that do so both increased by concentrating sending method to send each device node to mostly by the nucleus equipment in system
Added weight and the power consumption (needing extra cable and emitter) of system, and if nucleus equipment in system damage, complete
System is absorbed in the malfunction that cannot synchronize, and its system-level reliability is relatively low.The present invention is used to be led to by all for system nodes
Cross common data bus to connect, and reach system level tasks synchronizing function by installation software algorithm on the data bus, and should
Synchronizing function does not relies on any one single node, as long as appointing the node so having more than 3 in system, it is possible to normal
Complete synchronous task and ensure that system works on.
The technical scheme of the solution of the present invention is: Distributed System-Level task synchronization method based on Time Triggered, step
As follows:
(1) normally powering on the equipment in system, and complete device power initialization procedure, equipment enters properly functioning mould
Formula；
(2) in system, each equipment periodically uses the local clock of the machineAs triggering Distributed System-Level
The unique designation of task,
(3) the time point T0 set in systems, each equipment sends tasks synchronization message to data switching exchaneDevice number during n represents system in formula or code or nominal value, n is 1～N or Ex or Default, Ex are switch
Code, i.e. Ex represent that switch, Default represent nominal value, and each equipment sends tasks synchronization messageMoment be this
Equipment local clockActual time now isThe most each equipment sends tasks synchronization messageTrue
Between Shi Shi it is
(4) all synchronization message is sent according to the machine local clock when all devicesAfter, every messageWill be through
Cross different paths and the time arrives data switching exchane, if every messageThe absolute time arriving data switching exchane isThen by the delay on link and linkage length, statistics obtains every messageRelative to sending
The transmission incremental time in moment beginning
(5) tasks synchronization message it is preset with in systemsArrive the nominal increments time of data switching exchaneThen tasks synchronization messageBy according to current transmission incremental timeWait againTime eventually arrives at data switching exchane again, and the time of eventually arriving at isAnd
(6) data switching exchane does not record actual timeOnly record each synchronization messageArrival data exchange
The relative time of machine, i.e. eventually arrives at the timeWhen all synchronization messagesAfter arriving data switching exchane, calculate institute
There is synchronization messageArrive data switching exchane eventually arrives at the timeMedian time
(7) data switching exchane is at median timeOn the basis of, the nominal waiting time that waiting system is presetRear arrival system actual timeAnd at system actual timeSynchronization is receiveed the responseIt is sent to the device node in all systems, wherein
(8) all receiveing the response is sent when data switching exchaneAfter each device node of system, every response disappears
BreathEach device node will be arrived, if every receives the response through different paths and timeIt is right to arrive
The absolute time of the device node answered isThen by the delay on link and linkage length, statistics obtains every
Bar is receiveed the responseRelative to the transmission incremental time sending initial time
(9) it is preset with task in systems to receive the responseArrive the nominal increments time of each device nodeThen task is receiveed the responseBy according to current transmission incremental timeWait againTime eventually arrives at each device node again, and the time of eventually arriving at isAnd
(10) in system, each device node is sending synchronization messageTime, all can set an expection receive synchronization response disappear
BreathTimeWherein
(11) in calculating system, each device node actually receives synchronization and receives the responseTimeWith expection
TimeDoing difference, the result obtained is exactly the correction increment of the local clock of this device nodeI.e.
(12) local clock is revised so that local new clockIt is modified toAnd at it
After system level tasks scheduling time use through correction new clock trigger Distributed System-Level task.
Described Distributed System-Level task is the task of equal cycling service, such as periodic samples task or the cycle of equipment
Property navigational guidance control task, equal cycling service.
Described T0 is the initial time in task run cycle.
Calculate all synchronization messagesArrive data switching exchane eventually arrives at the timeMedian timeMethod is as follows: work as synchronization messageWhen bar number is odd number,For all synchronization messagesArrive the interlude of the time of data switching exchane.
Work as synchronization messageWhen bar number is even number,For all synchronization messagesArrival data are handed over
The meansigma methods of middle 2 times of the time changed planes.
After described step (12), utilize and revise local clock, the distributed system after this Distributed System-Level task
Step (12) is used to trigger Distributed System-Level task through the new clock revised during irrespective of size task scheduling.
The present invention is relative to the advantage of prior art:
(1) using on framework of the present invention based on distributed information transmitting methods, working state of system is independent of with any
The success or failure of one single node so that the reliability of system work is substantially improved；
(2) present invention physically synchronous method uses data transmission channel, does not increase the extra cable of system and chip
Weight power dissipation overhead, reduces the resource usage amount of system；
(3), in autgmentability of the present invention, i.e. support traditional data/address bus type system, also support based on such as the data of Ethernet
Network-type system.
Accompanying drawing explanation
Fig. 1 is the system level tasks synchronous working flow process of the present invention；
Fig. 2 is the device power initial work flow process of the present invention；
Fig. 3 is the system link topology-data network form of the present invention；
Fig. 4 is the system link topology-data/address bus form of the present invention.
Detailed description of the invention
The basic ideas of the present invention are: Distributed System-Level task synchronization method based on Time Triggered, initially set up base
In the system architecture model of Time Triggered information network, and the device node carrying out tasks synchronization will be needed all to be connected to these data
On network；The cycle performed according to periodic system level synchronous task afterwards carries out periodic task together to all devices node
Step.The method synchronized relies primarily on the protocol message between device node and data switching exchane and forwards relation and transmission time measurement
Ability, data switching exchane carries out time statistics by each device node in system is sent synchronization message, and according to median
Algorithm obtains the middle position time of advent of all synchronization messages, passes through to send on the basis of median time afterwards to receive the response, respectively
Actual time and expeced time that device node is receiveed the response by reception carry out doing difference, and the time difference obtained is i.e. device node
Local clock needs the time quantum revised.On the new clock base through revising, device node by start current period is
Irrespective of size synchronous task performs operation.
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
First, when system (such as control subsystem or the avionics subsystem of spacecraft) is set up, select such as Fig. 3 or Fig. 4 institute
The information topology structure shown, as it can be seen, there is the node of 2 types in systems, is " equipment " node and " network friendship respectively
Change planes (also referred to as synchronous switch) " node.Wherein " equipment " node is the various equipment worked in system, as controlled to calculate
Machine, measurement sensor calculate circuit, actuating mechanism controls terminal and various signaling interface controller；" the network switch (timed delivery
Change planes) " node, (such as Ethernet structure) under network topology structure state, it is network data exchange machine, and this network switch
The software control algorithm of the present invention should be installed, to obtain system level tasks synchronizing function；If bus structures are (as 1553B is total
Line structure) then should increase Network switch nodes newly, and make this node be specifically designed to system level tasks synchronous task.
After completion system builds, carry out system work schedule design.In system, all nodes are all according to unified task
Cycle performs self task, and therefore the tasks synchronization demand in system can be converted into the cycle to node tasks all in system
With Phase synchronization demand.
In completion system after the task timing Design of all nodes, all devices node in system is powered on.System is also
There is no electrifying timing sequence requirement, but when powering on, equipment should follow the flow process that works on power as shown in Figure 2, with first in ensureing system
Individual upper electrical nodes can start system task sequential, after the node that powers on can add and follow this task sequential.Device power
Initialization procedure mainly comprises following step:
(1) state machine S0, enters after powering on or after fault/conflict reset, waits that hardware completes power-on self-test and software adds
Carry work, after completing, automatically proceed to S1；
(2) whether state machine S1, is entered by S0 state, start tasks synchronization and initialize flow process, have in detecting system
Properly functioning device node or device node combination, have been started up properly functioning node if had, then proceed to S3, if do not had
Have, then proceed to S2；
(3) state machine S2, is entered when not finding system node by S1, enters cold start mode, and sends in system
Cold start-up Frame, waiting system is responded；If now there is other to send the node that cold start-up frame is the most properly functioning, then enter
S0 pattern reinitializes, if not having other node conflict, is then as the criterion with self clock, enters S4 normal operating condition；
(4) state machine S3, S1 enter, now in viewing system when having other the most properly functioning node in discovery system
Other node running status, and actively carry out synchronize with it, after completing to synchronize, enter S4 normal operating condition；
(5) state machine S4, is entered after completing to synchronize by S1 or S2 state, system periodic task synchronous operation state；
If now there is synchronization loss situation, then enter fault-tolerant mode and return S0, re-starting system task synchronizing process.
After system completes to power on, all nodes are all operated according to pre-set task sequential, and each
The initial of duty cycle carries out tasks synchronization, and the process of tasks synchronization, with reference to shown in Fig. 1, is specifically carried out by below scheme:
(1) in system, all devices is complete and powers on and initialization procedure；Such as, current system has 5 equipment joints
Point and 1 data switching exchane, 5 nodes are GNC controller 1, sun sensor 2 and star sensor 2 respectively；
(2) in system, each equipment periodically uses the local clock of the machineAs triggering Distributed System-Level
The unique designation of task；As a example by GNC controller, if the system-level synchronous task cycle is 200ms, then GNC controller can be at this
Ground clock arrive 200ms, 400ms, 600ms ... time start task；
(3) the time point T0 set in systems, each equipment sends tasks synchronization message to data switching exchaneDevice number during n represents system in formula or code or nominal value, n is 1-N or Ex or Default, and Ex is switch
Code, i.e. Ex represent that switch, Default represent nominal value, and each equipment sends tasks synchronization messageMoment be this
Equipment local clockActual time now isThe most each equipment sends tasks synchronization messageTrue
Between Shi Shi it isAs a example by GNC controller, set the 10ms before T0 starts, then synchronous task meeting as each synchronous task
Start at 190ms, 390ms, 590ms of local clock；
(4) all synchronization message is sent according to the machine local clock when all devicesAfter, every messageWill be through
Cross different paths and the time arrives data switching exchane, if every messageThe absolute time arriving data switching exchane isThen by the delay on link and linkage length, statistics obtains every messageRelative to sending
The transmission incremental time in moment beginning
(5) tasks synchronization message it is preset with in systemsArrive the nominal increments time of data switching exchaneThen tasks synchronization messageBy according to current transmission incremental timeWait againTime eventually arrives at data switching exchane again, and the time of eventually arriving at isAndSuch as, transmission incremental time is set to 2200us, if message is when 190ms
Send, then message eventually arrives at the time is 190ms+2200us=192.2ms；
(6) data switching exchane does not record actual timeOnly record each synchronization messageArrival data exchange
The relative time of machine, i.e. eventually arrives at the timeWhen all synchronization messagesAfter arriving data switching exchane, calculate
All synchronization messagesArrive data switching exchane eventually arrives at the timeMedian timeAs
GNC controller synchronization message arrive exchange board time be relative 0 moment, sun sensor arrive relative time be+0.03ms
+ 0.01ms, the relative time that star sensor arrives be-0.02ms+0.05ms, then after being ranked up, relative median time is+
0.01ms；
(7) data switching exchane is at median timeOn the basis of, the nominal waiting time that waiting system is presetRear arrival system actual timeAnd at system actual timeSynchronization is receiveed the responseIt is sent to the device node in all systems, whereinIf
Set the nominal waiting time as 1ms, then data switching exchane is by send back after+the 0.01ms+1ms after by relative 0 moment should
Message；
(8) all receiveing the response is sent when data switching exchaneAfter each device node of system, every response
MessageEach device node will be arrived, if every receives the response through different paths and timeArrive
The absolute time of corresponding device node isThen by the delay on link and linkage length, statistics obtains every
Bar is receiveed the responseRelative to the transmission incremental time sending initial time
(9) it is preset with task in systems to receive the responseArrive the nominal increments time of each device nodeThen task is receiveed the responseBy according to current transmission incremental timeWait againTime eventually arrives at each device node again, and the time of eventually arriving at isAnd
(10) in system, each device node is sending synchronization messageTime, all can set one in advance
Phase receives synchronization and receives the responseTimeWherein Here, all devices node receives receive the response true
Between Shi Shi identical, but different relative to the local zone time of this device node, if GNC controller is at local clock
195.41ms receive；
(11) in calculating system, each device node actually receives synchronization and receives the responseTimeWith in advance
Time phaseDoing difference, the result obtained is exactly the correction increment of the local clock of this device nodeI.e.It is 190ms+2200us+ that GNC controller receives the expeced time receiveed the response
1ms+2200us=195.44ms, does difference with the local zone time actually received and obtains 0.01ms, and therefore the clock of GNC controller should
Increasing amount adjustment 0.01ms；
(12) local clock is revised so that local new clockIt is modified toAnd at it
After system level tasks scheduling time use through correction new clock trigger Distributed System-Level task.
As it was previously stated, the system level tasks synchronous method in the present invention, it is on existing data/address bus/data network basis
On, obtain Microsecond grade system task synchronous effect by installing software algorithm, real at high reliability height such as spacecraft avionics, controls
The system that time property requires has the biggest using value, provides for spacecraft distributed system and obtain more preferably under limited resources
The technological approaches that system task synchronizes.
This method is relative to legacy system task synchronization method, in terms of system resources consumption, reduces the hardware of 10%
Power consumption and weight；In terms of synchronization accuracy, improve 1 order of magnitude than the method not using centralized hardware signal, reach
10us magnitude；In terms of software complexity, decrease a large amount of down trigger program, simplify program function and implement.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (5)
1. Distributed System-Level task synchronization method based on Time Triggered, it is characterised in that step is as follows:
(1) normally powering on the equipment in system, and complete device power initialization procedure, equipment enters normal operation mode；
(2) in system, each equipment periodically uses the local clock of the machineAs triggering Distributed System-Level task
Unique designation,
(3) the time point T0 set in systems, each equipment sends tasks synchronization message to data switching exchaneIn formula
N represents the device number in system or code or nominal value, and n is 1-N or Ex or Default, and Ex is the code of switch, i.e. Ex table
Showing that switch, Default represent nominal value, each equipment sends tasks synchronization messageMoment when being this equipment this locality
ClockActual time now isThe most each equipment sends tasks synchronization messageActual time be
(4) all synchronization message is sent according to the machine local clock when all devicesAfter, every messageWill be through different
Path and the time arrive data switching exchane, if every messageThe absolute time arriving data switching exchane isThen by the delay on link and linkage length, statistics obtains every messageRelative to sending
The transmission incremental time in moment beginning(5) tasks synchronization it is preset with in systems
MessageArrive the nominal increments time of data switching exchaneThen tasks synchronization messageWill be according to currently
Transmission incremental timeWait againTime eventually arrives at data switching exchane again,
The time of eventually arriving at isAnd
(6) data switching exchane does not record actual timeOnly record each synchronization messageArrive data switching exchane
Relative time, i.e. eventually arrives at the timeWhen all synchronization messagesAfter arriving data switching exchane, calculate all same
Step messageArrive data switching exchane eventually arrives at the timeMedian time
(7) data switching exchane is at median timeOn the basis of, the nominal waiting time that waiting system is presetRear arrival system actual timeAnd at system actual timeSynchronization is receiveed the responseIt is sent to the device node in all systems, wherein
(8) all receiveing the response is sent when data switching exchaneAfter each device node of system, receive the response for everyEach device node will be arrived, if every receives the response through different paths and timeArrive correspondence
The absolute time of device node beThen by the delay on link and linkage length, statistics obtains every
Receive the responseRelative to the transmission incremental time sending initial time
(9) it is preset with task in systems to receive the responseArrive the nominal increments time of each device nodeThen task is receiveed the responseBy according to current transmission incremental timeWait againTime eventually arrives at each device node again, and the time of eventually arriving at isAnd
(10) in system, each device node is sending synchronization messageTime, all can set an expection and receive synchronization and receive the responseTimeWherein
(11) in calculating system, each device node actually receives synchronization and receives the responseTimeWith expeced timeDoing difference, the result obtained is exactly the correction increment of the local clock of this device nodeI.e.
(12) local clock is revised so that local new clockIt is modified toAnd later be
The new clock through revising is used to trigger Distributed System-Level task during irrespective of size task scheduling.
Distributed System-Level task synchronization method based on Time Triggered the most according to claim 1, it is characterised in that: institute
State the task that Distributed System-Level task is equal cycling service, such as periodic samples task or the periodic navigation guidance of equipment
Control task, equal cycling service.
Distributed System-Level task synchronization method based on Time Triggered the most according to claim 1, it is characterised in that: institute
State the initial time that T0 is the task run cycle.
Distributed System-Level task synchronization method based on Time Triggered the most according to claim 1, it is characterised in that: meter
Calculate all synchronization messagesArrive data switching exchane eventually arrives at the timeMedian timeSide
Method is as follows: work as synchronization messageWhen bar number is odd number,For all synchronization messagesArrival data exchange
The interlude of the time of machine；
Work as synchronization messageWhen bar number is even number,For all synchronization messagesArrive data switching exchane
The meansigma methods of middle 2 times of time.
Distributed System-Level task synchronization method based on Time Triggered the most according to claim 1, it is characterised in that: institute
After stating step (12), utilizing and revise local clock, the Distributed System-Level task after this Distributed System-Level task is adjusted
Step (12) is used to trigger Distributed System-Level task through the new clock revised when spending.
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